Provided is an information processing apparatus that performs processing of presenting an explanation for a reason why a control-target apparatus has performed an automatic operation. The information processing apparatus includes a determination unit that determines processing in a control-target apparatus corresponding to sensor information, a generation unit that generates an explanation for a reason for the processing, and an estimation unit that performs an estimation with respect to a reaction from a user. The generation unit controls presentation of the explanation on the basis of a result of the estimation with respect to the reaction from the user. The generation unit controls, on the basis of the result of the estimation, contents of the explanation or a method of presenting the explanation.